Modified Particle Swarm Algorithm

kitteninterestAI and Robotics

Nov 15, 2013 (3 years and 10 months ago)

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Modified Particle Swarm Algorithm
for Decentralized Swarm Agent

2004 IEEE International Conference on Robotic and Biomimetics

Dong H. Kim

Seiichi Shin

9457515

林盈吟

Outline


Introduction


Swarm Model Description and Problem Statement


Modified Particle Swarm Algorithm


Simulation Examples


Conclusion

Introduction


Self
-
organization in a swarm is the ability to
distribute itself “optimally” for given task.


Nonlinear oscillator (2000)


Behavior
-
based intelligences


Particle Swarm Optimization

Environment and agent model



Particle Swarm optimization


Representation



Objective function



Velocity



position



T
i
i
i
x
x
x
2
1
,

2
))
(
)
(
(
)
(
k
x
k
x
k
F
i
d
i


))
(
)
(
()(
))
(
)
(
()(
)
(
)
1
(
3
2
1
k
x
k
p
rand
c
k
x
k
p
rand
c
k
v
c
k
v
i
g
i
i
i
i






)
(
)
(
)
1
(
k
v
k
x
k
x
i
i
i



Modified Particle Swarm Algorithm


Velocity


















otherwise
k
x
k
p
rand
c
k
w
k
p
k
x
if
k
x
k
x
rand
c
k
w
k
w
k
w
k
x
k
p
rand
c
k
v
c
k
v
i
g
g
i
g
i
i
d
d
i
i
i
i
i
i
i


)),
(
)
(
()(
)
(
)
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)
(


)),
(
)
(
()(
)
(
)
(
,
where
)
(
))
(
)
(
()(
)
(
)
1
(
3
4
2
1

Selection of
p
i


Fixed target


Moving target



Selection of
p
g


Fixed target


Moving target




The relation between weighting factors and a
moving target


c
3
<c
4
: leader


c
3
>c
4
: randomly

Obstacle avoidance


Fitness function










j
N
j
j
i
i
d
i
P
x
x
F
2
)
(

Penalty function



2
1
|
|
p
n
i
j
p
j
i
c
x
o
c
P



Virtual zone

)
(
)
(
j
i
o
j
i
d
i
i
x
x
r
x
x
r
x
x





Simulation Examples


The comparison of the MPSA with and without


)
(
k
w
d
i

Migration to a moving target in the existence of obstacle

Conclusion


The paper presents a self
-
organization scheme
based on the MPSA for decentralized swarm agents.


This is a first attempt that the PSO concept is
adapted to self
-
organization for swarm system.



Q&A